Task handler - FontysAtWork/ESA-PROJ GitHub Wiki

This node handles the messages published in the topic /refbox_receiver/task_info. These messages contain the tasks received by the refbox.

These tasks will be stored in a std::vector<atwork_ros_msgs/Task.msg> (see atwork_refbox_comm) which also keeps track of the status of the task. The sends the tasks one by one to the task executor using a custom action-server and will wait until the task is complete. After this the node sends the next task to the task executor.

The diagram below shows the communication between the nodes.

/img/refbox/Refbox-Comm.png

At the moment we can only execute the Basic Navigation Test. The do_vision and the move_arm communication still needs to be implemented. Also the pause and the stop button of the refbox have to be implemented.